VCTP：面向越野导航的车辆条件地形规划
VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation
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中文总结 AI 辅助
VCTP通过评估八个航向和车轮接触点来规划越野路线，相比中心采样降低地表成本39.3%，并在474次比较中实现选择性更新与全量重算一致。
中文摘要 AI 辅助
车辆的航向同时影响其轮胎下方的地表以及其俯仰和侧倾。我们提出了车辆条件地形规划（VCTP），该方法通过在八个航向上评估共享的高程和地表ID层来保留这些关系。车身几何形状约束了可通行性，而加载的车轮接触点决定了建模的地表成本和预测的俯仰与侧倾。已建立的D* Lite和车辆状态搜索利用这些评估来规划包含前进和倒车运动的路线。当观测发生变化时，VCTP会重新计算每个受影响的车辆或接触查询。在完全观测的双轨仿真中，在车轮接触点而非车辆中心进行采样，使建模的地表成本降低了39.3%，同时缩短了路线。在RGator记录数据的离线规划中，VCTP相对于以距离为中心的规划，在已识别的地表和观测支撑上降低了建模成本，尽管覆盖不完整导致全路线排名未解决。选择性更新在所有474次使用记录地图变化的比较中与完全重新计算相匹配。这些结果确定了车轮接触点位置和车辆航向何时影响路线选择。
英文摘要
A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Conditioned Terrain Planning (VCTP), which retains these relationships by evaluating shared elevation and surface-ID layers at eight headings. Body geometry constrains admissibility, while loaded wheel contacts determine modeled surface cost and predicted pitch and roll. Established D* Lite and vehicle-state search use these evaluations to plan routes with forward and reverse motion. When observations change, VCTP recomputes every affected body or contact query. In fully observed two-track simulations, sampling at wheel contacts rather than at the vehicle center lowers modeled surface cost by 39.3% while shortening the route. In offline planning on RGator recordings, VCTP also reduces modeled costs over identified surfaces and observed support relative to distance-focused planning, although incomplete coverage leaves full-route rankings unresolved. Selective updates match full recomputation in all 474 comparisons using recorded map changes. These results identify when wheel-contact placement and vehicle heading affect route choice.
发表机构
- University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
- U.S. Army Engineer Research and Development Center（美国陆军工程兵研究与发展中心）
机构由 AI 辅助整理，请以论文原文为准。
